robokudo.io.ros_camera_without_depth_interface
==============================================

.. py:module:: robokudo.io.ros_camera_without_depth_interface


Classes
-------

.. autoapisummary::

   robokudo.io.ros_camera_without_depth_interface.ROSCameraWithoutDepthInterface


Module Contents
---------------

.. py:class:: ROSCameraWithoutDepthInterface(camera_config)

   Bases: :py:obj:`robokudo.io.camera_interface.ROSCameraInterface`


   .. py:attribute:: color_subscriber


   .. py:attribute:: cam_info_subscriber


   .. py:attribute:: color
      :value: None



   .. py:attribute:: cam_info
      :value: None



   .. py:attribute:: cam_intrinsic
      :value: None



   .. py:attribute:: color2depth_ratio
      :value: None



   .. py:attribute:: cam_translation
      :value: None



   .. py:attribute:: cam_quaternion
      :value: None



   .. py:attribute:: timestamp
      :value: None



   .. py:attribute:: lock


   .. py:attribute:: bridge


   .. py:method:: rotate_camera_intrinsics(K, image_size, rotation='90_ccw')

      Adjusts camera intrinsics for a 90 degree rotation.

      Parameters:
      - K: (3x3 ndarray) original camera intrinsic matrix
      - image_size: (width, height) tuple of original image size
      - rotation: '90_ccw', '90_cw', '180' (default is 90° counter-clockwise)

      Returns:
      - K_new: (3x3 ndarray) adjusted camera intrinsic matrix
      - new_image_size: (width, height) after rotation



   .. py:method:: rotate_image_and_intrinsics(img, K, rotation='90_ccw')


   .. py:method:: callback(color_data, cam_info=None)

      TODO make this generic. handle the encoding and order properly.
      For standard and compressed images.
      this might also depend on the fix of image_transport_plugins being published as a package.
      Startpoint can be found at the bottom of this method.



   .. py:method:: set_data(cas: robokudo.cas.CAS)